Instant positioning and mapping method, terminal equipment and storage medium

Abstract

The invention is suitable for the technical field of robot positioning, and provides an instant positioning and mapping method, terminal equipment and a storage medium, the method comprises the following steps: determining a target relative pose of a robot relative to a previous sampling moment according to current motion data, the current motion data comprising leg and foot state data; and then map construction is carried out according to the target relative pose. According to the method, the gait stability of the leg and foot state data is high, the capacity of adapting to complex terrains is high, and the influence of the environment on the leg and foot state data is relatively low, so that compared with the relative pose determined by using an environment image which is relatively highly influenced by the environment, the relative pose of the robot determined by using the leg and foot state data is more accurate; therefore, the map constructed by using the more accurate relative pose is more accurate.

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